------------------------------------------------------------------------------ -- -- -- GNU ADA RUN-TIME LIBRARY (GNARL) COMPONENTS -- -- -- -- I N T E R F A C E S . V X W O R K S -- -- -- -- S p e c -- -- -- -- -- -- Copyright (C) 1999 - 2002 Ada Core Technologies, Inc. -- -- -- -- GNARL is free software; you can redistribute it and/or modify it under -- -- terms of the GNU General Public License as published by the Free Soft- -- -- ware Foundation; either version 2, or (at your option) any later ver- -- -- sion. GNARL is distributed in the hope that it will be useful, but WITH- -- -- OUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY -- -- or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -- -- for more details. You should have received a copy of the GNU General -- -- Public License distributed with GNARL; see file COPYING. If not, write -- -- to the Free Software Foundation, 59 Temple Place - Suite 330, Boston, -- -- MA 02111-1307, USA. -- -- -- -- As a special exception, if other files instantiate generics from this -- -- unit, or you link this unit with other files to produce an executable, -- -- this unit does not by itself cause the resulting executable to be -- -- covered by the GNU General Public License. This exception does not -- -- however invalidate any other reasons why the executable file might be -- -- covered by the GNU Public License. -- -- -- -- GNARL was developed by the GNARL team at Florida State University. It is -- -- now maintained by Ada Core Technologies Inc. in cooperation with Florida -- -- State University (http://www.gnat.com). -- -- -- ------------------------------------------------------------------------------ -- This package provides a limited binding to the VxWorks API -- In particular, it interfaces with the VxWorks hardware interrupt -- facilities, allowing the use of low-latency direct-vectored -- interrupt handlers. Note that such handlers have a variety of -- restrictions regarding system calls. Less restrictive, but higher- -- latency handlers can be written using Ada protected procedures, -- Ada 83 style interrupt entries, or by signalling an Ada task -- from within an interrupt handler using a binary semaphore as -- described in the VxWorks Programmer's Manual -- -- For complete documentation of the operations in this package, please -- consult the VxWorks Programmer's Manual and VxWorks Reference Manual with System.VxWorks; package Interfaces.VxWorks is pragma Preelaborate (VxWorks); ------------------------------------------------------------------------ -- Here is a complete example that shows how to handle the Interrupt 0x14 -- with a direct-vectored interrupt handler in Ada using this package: -- with Interfaces.VxWorks; use Interfaces.VxWorks; -- with System; -- -- package P is -- -- Count : Integer; -- pragma Atomic (Count); -- -- Level : constant := 1; -- -- Interrupt level used by this example -- -- procedure Handler (parameter : System.Address); -- -- end P; -- -- package body P is -- -- procedure Handler (parameter : System.Address) is -- S : STATUS; -- begin -- Count := Count + 1; -- logMsg ("received an interrupt" & ASCII.LF & ASCII.Nul); -- -- -- Acknowledge VME interrupt -- S := sysBusIntAck (intLevel => Level); -- end Handler; -- end P; -- -- with Interfaces.VxWorks; use Interfaces.VxWorks; -- with Ada.Text_IO; use Ada.Text_IO; -- -- with P; use P; -- procedure Useint is -- -- Be sure to use a reasonable interrupt number for the target -- -- board! -- -- This one is the unused VME graphics interrupt on the PPC MV2604 -- Interrupt : constant := 16#14#; -- -- task T; -- -- S : STATUS; -- -- task body T is -- begin -- loop -- Put_Line ("Generating an interrupt..."); -- delay 1.0; -- -- -- Generate VME interrupt, using interrupt number -- S := sysBusIntGen (1, Interrupt); -- end loop; -- end T; -- -- begin -- S := sysIntEnable (intLevel => Level); -- S := intConnect (INUM_TO_IVEC (Interrupt), handler'Access); -- -- loop -- delay 2.0; -- Put_Line ("value of count:" & P.Count'Img); -- end loop; -- end Useint; ------------------------------------- subtype int is Integer; type STATUS is new int; -- Equivalent of the C type STATUS OK : constant STATUS := 0; ERROR : constant STATUS := -1; type VOIDFUNCPTR is access procedure (parameter : System.Address); type Interrupt_Vector is new System.Address; type Exception_Vector is new System.Address; function intConnect (vector : Interrupt_Vector; handler : VOIDFUNCPTR; parameter : System.Address := System.Null_Address) return STATUS; -- Binding to the C routine intConnect. Use this to set up an -- user handler. The routine generates a wrapper around the user -- handler to save and restore context function intVecGet (Vector : Interrupt_Vector) return VOIDFUNCPTR; -- Binding to the C routine intVecGet. Use this to get the -- existing handler for later restoral procedure intVecSet (Vector : Interrupt_Vector; Handler : VOIDFUNCPTR); -- Binding to the C routine intVecSet. Use this to restore a -- handler obtained using intVecGet function INUM_TO_IVEC (intNum : int) return Interrupt_Vector; -- Equivalent to the C macro INUM_TO_IVEC used to convert an interrupt -- number to an interrupt vector function sysIntEnable (intLevel : int) return STATUS; -- Binding to the C routine sysIntEnable function sysIntDisable (intLevel : int) return STATUS; -- Binding to the C routine sysIntDisable function sysBusIntAck (intLevel : int) return STATUS; -- Binding to the C routine sysBusIntAck function sysBusIntGen (intLevel : int; Intnum : int) return STATUS; -- Binding to the C routine sysBusIntGen. Note that the T2 -- documentation implies that a vector address is the proper -- argument - it's not. The interrupt number in the range -- 0 .. 255 (for 68K and PPC) is the correct agument. procedure logMsg (fmt : String; arg1, arg2, arg3, arg4, arg5, arg6 : int := 0); -- Binding to the C routine logMsg. Note that it is the caller's -- responsibility to ensure that fmt is a null-terminated string -- (e.g logMsg ("Interrupt" & ASCII.NUL)) type FP_CONTEXT is private; -- Floating point context save and restore. Handlers using floating -- point must be bracketed with these calls. The pFpContext parameter -- should be an object of type FP_CONTEXT that is -- declared local to the handler. procedure fppRestore (pFpContext : in out FP_CONTEXT); -- Restore floating point context procedure fppSave (pFpContext : in out FP_CONTEXT); -- Save floating point context private type FP_CONTEXT is new System.VxWorks.FP_CONTEXT; -- Target-dependent floating point context type pragma Import (C, intConnect, "intConnect"); pragma Import (C, intVecGet, "intVecGet"); pragma Import (C, intVecSet, "intVecSet"); pragma Import (C, INUM_TO_IVEC, "__gnat_inum_to_ivec"); pragma Import (C, sysIntEnable, "sysIntEnable"); pragma Import (C, sysIntDisable, "sysIntDisable"); pragma Import (C, sysBusIntAck, "sysBusIntAck"); pragma Import (C, sysBusIntGen, "sysBusIntGen"); pragma Import (C, logMsg, "logMsg"); pragma Import (C, fppRestore, "fppRestore"); pragma Import (C, fppSave, "fppSave"); end Interfaces.VxWorks;